CN112057110B - Imaging method of three-dimensional vascular ultrasonic image and navigation equipment in ultrasonic operation - Google Patents
Imaging method of three-dimensional vascular ultrasonic image and navigation equipment in ultrasonic operation Download PDFInfo
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- CN112057110B CN112057110B CN201910430256.9A CN201910430256A CN112057110B CN 112057110 B CN112057110 B CN 112057110B CN 201910430256 A CN201910430256 A CN 201910430256A CN 112057110 B CN112057110 B CN 112057110B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0891—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
Abstract
The invention discloses an imaging method of a three-dimensional blood vessel ultrasonic image and navigation equipment in an ultrasonic operation, wherein the method comprises the following steps: determining a plurality of motion trajectories on a target scan site on a limb; the mechanical arm drives the probe to sequentially move according to each movement track to obtain first ultrasonic data; and generating a plurality of ultrasonic images according to the first ultrasonic data, and carrying out image composite reconstruction on the generated ultrasonic images to obtain a three-dimensional ultrasonic image of the target scanning position. According to the invention, the mechanical arm is used for controlling the movement of the probe, and reconstructing the three-dimensional image of the image acquired by the probe, so that the scanning of the ultrasonic image and the reconstruction of the three-dimensional image on the surface of the human body in a large range are realized, and the three-dimensional ultrasonic image with the complete blood vessel in a large range in vivo is obtained, so that the three-dimensional ultrasonic image and the three-dimensional DSA (or MRA and other images can be subjected to image matching and fusion, a three-dimensional fusion image for guiding the operation is formed, the blood vessel operation is navigated through the three-dimensional fusion image, and the safety of the blood vessel operation is improved.
Description
Technical Field
The invention relates to the technical field of ultrasound, in particular to an imaging method of a three-dimensional vascular ultrasound image and navigation equipment in an ultrasound operation.
Background
Existing ultrasonic diagnostic equipment can be equipped with two-dimensional and three-dimensional imaging probes. The two-dimensional probe is divided into linear array, convex array, phased array and other types, and is composed of a group of piezoelectric ceramic (or monocrystalline or composite material) array elements arranged on a straight line to form an array, and a doctor holds the probe to scan and image at different parts of a human body. Three-dimensional probes have two main methods: one is a mechanical scanning three-dimensional probe, namely, a two-dimensional probe array is sealed in one probe by combining a mechanical scanning device, the mechanical device controls the two-dimensional probe array to swing back and forth to obtain two-dimensional ultrasonic images at different positions, and a computer is used for reconstructing the two-dimensional ultrasonic images into three-dimensional images; the other is to adopt a three-dimensional area array probe, and arrange piezoelectric ceramic (or single crystal or composite material) array elements into square, and directly obtain echo information of different points in a three-dimensional space for three-dimensional imaging.
The above technologies are all that a doctor holds a probe to obtain image information of an ultrasonic beam scanning range of a human body position where the probe is located, and cannot obtain three-dimensional image information of a larger range beyond the position of the probe. After the probe position moves, three-dimensional images obtained at different positions cannot be combined into a complete image; in addition, there are difficulties in positioning the probe in the same position with full precision for repeated acquisitions. In particular to a long artery or vein blood vessel on a limb, a complete blood vessel real-time image is difficult to acquire or repeatedly acquire, the existing ultrasonic equipment is only used for vessel puncture at the beginning of the operation in the limb blood vessel operation, and the navigation of the whole operation can not be completed by replacing the radiographic equipment such as DSA and the like.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide an imaging method of three-dimensional vascular ultrasound images and navigation equipment in ultrasound operation.
The technical scheme adopted by the invention is as follows:
an imaging method of three-dimensional vascular ultrasound images applied to an ultrasound device configured with a robotic arm and a probe, the method comprising:
acquiring a target scanning position on a limb, and acquiring a plurality of motion tracks of the target scanning position, wherein the motion tracks carry ultrasonic observation points;
the mechanical arm drives the probe arranged on the mechanical arm to sequentially move according to each motion track so as to acquire first ultrasonic data corresponding to each ultrasonic observation point on each motion track;
and generating two-dimensional ultrasonic images corresponding to each motion trail according to the acquired first ultrasonic data, and performing image compositing on each two-dimensional ultrasonic image to obtain a three-dimensional ultrasonic image of the target scanning position.
The imaging method of the three-dimensional vascular ultrasound image, wherein the steps of acquiring a target scanning position on a limb and determining a plurality of motion tracks corresponding to the target scanning position specifically comprise:
acquiring a target scanning position on a limb, acquiring an initial ultrasonic observation point of the target scanning position, and pulling a probe to the initial ultrasonic observation point;
the traction probe performs ultrasonic scanning on the target scanning part to form a motion track;
repeating the steps of acquiring the initial ultrasonic observation point and traction until a plurality of motion tracks are acquired, and recording the ultrasonic observation points of the motion tracks.
The method for imaging the three-dimensional vascular ultrasound image, wherein the traction probe performs ultrasound scanning on a target scanning part to form a motion track, and the ultrasound observation points for recording the motion tracks specifically comprise:
the traction probe carries out ultrasonic scanning on the target scanning part according to preset pressure, and first position information of each ultrasonic observation point is obtained;
obtaining deformation values of target scanning positions corresponding to ultrasonic observation points;
and determining the pressure of the corresponding ultrasonic observation point according to each deformation value, and correlating the pressure with the first position information of the corresponding ultrasonic observation point to form a motion track.
The imaging method of the three-dimensional vascular ultrasonic image, wherein the ultrasonic device is provided with a pressure sensor, and when the probe scans the target scanning position, the pressure of the probe contacted with the surface of the target scanning position is detected by the pressure sensor.
A vascular surgery ultrasound navigation method based on three-dimensional ultrasound images, applying the imaging method of three-dimensional vascular ultrasound images as described in any one of the above, comprising:
acquiring a three-dimensional ultrasonic image of a patient operation blood vessel before an operation starts;
when a medical instrument enters a surgical blood vessel, driving a probe to move to obtain an ultrasonic observation point corresponding to the medical instrument by a mechanical arm, and obtaining a two-dimensional ultrasonic image of the ultrasonic observation point;
and fusing the two-dimensional ultrasonic image and the three-dimensional ultrasonic image, and guiding the operation through the two-dimensional image obtained by fusion.
The vascular surgery ultrasonic navigation method based on the three-dimensional ultrasonic image, wherein the pre-surgery acquisition of the three-dimensional ultrasonic image of the vascular surgery of the patient specifically comprises the following steps:
acquiring a three-dimensional ultrasonic image and a three-dimensional image of a surgical blood vessel of a patient before surgery, wherein the three-dimensional image is one of a DSA image, an MRA image and a CTA image;
and carrying out image registration on the three-dimensional ultrasonic image and the three-dimensional image to obtain a three-dimensional fusion image of the operation blood vessel.
The vascular operation ultrasonic navigation method based on the three-dimensional ultrasonic image, wherein the fusing of the two-dimensional ultrasonic image and the three-dimensional ultrasonic image, and the guiding of the operation through the fused two-dimensional image, specifically comprises the following steps:
fusing the two-dimensional ultrasonic image and the three-dimensional fused image, and acquiring blood vessel information of the front end of the medical instrument according to the fused two-dimensional image;
guiding the operation according to the blood vessel information.
According to the vascular surgery ultrasonic navigation method based on the three-dimensional ultrasonic image, when a medical instrument enters a surgery blood vessel, a mechanical arm drives a probe to move to an ultrasonic observation point corresponding to the front end of the medical instrument, and the acquisition of the two-dimensional image of the ultrasonic observation point specifically comprises the following steps:
when a medical instrument enters a surgical blood vessel, acquiring second position information of the medical instrument, and determining an ultrasonic observation point corresponding to the second position information;
the mechanical arm drives the probe to move to the ultrasonic observation point, and a two-dimensional ultrasonic image of the ultrasonic observation point is obtained.
The vascular operation ultrasonic navigation method based on the three-dimensional ultrasonic image, wherein the operation is limb artery/vein, abdominal aorta stent operation, balloon expansion operation, filter placement operation or mechanical thrombus removal operation.
A vascular surgical ultrasound navigation apparatus, comprising: the probe is arranged on the mechanical arm, and a computer readable program which can be executed by the processor is stored on the memory; the processor executes the computer readable program to realize the imaging method of the three-dimensional blood vessel ultrasonic image or the blood vessel operation ultrasonic navigation method based on the three-dimensional ultrasonic image.
The beneficial effects are that: compared with the prior art, the invention provides an imaging method of a three-dimensional blood vessel ultrasonic image and navigation equipment in ultrasonic operation, wherein the method comprises the following steps: acquiring a target scanning position on a limb and determining a plurality of motion tracks corresponding to the target scanning position; the mechanical arm drives the probes arranged on the mechanical arm to sequentially move according to each movement track so as to acquire first ultrasonic data of preset quantity corresponding to each movement track; and generating ultrasonic images corresponding to each motion trail according to the first ultrasonic data, and performing image compositing on each generated ultrasonic image to obtain a three-dimensional ultrasonic image of the target scanning position. According to the invention, the mechanical arm is used for controlling the probe to move, and the three-dimensional image reconstruction is carried out on the image acquired by the probe, so that the large-range ultrasonic image scanning and the three-dimensional image reconstruction on the surface of the human body are realized, and the complete three-dimensional ultrasonic image of a large-range blood vessel (artery and vein) in the body is obtained. The three-dimensional ultrasonic image and the three-dimensional DSA (or three-dimensional MRA and the like) form a three-dimensional fusion image, and the three-dimensional fusion image is used for navigating the vascular operation, so that the safety of the vascular operation is improved.
Drawings
Fig. 1 is a flowchart of an imaging method of a three-dimensional vascular ultrasound image provided by the invention.
Fig. 2 is a flowchart of step S10 in the imaging method of three-dimensional vascular ultrasound image provided by the present invention.
Fig. 3 is a flowchart of a three-dimensional ultrasound image-based surgical guidance method provided by the invention.
Detailed Description
The invention provides an imaging method of a three-dimensional blood vessel ultrasonic image and ultrasonic navigation equipment, which are used for making the purposes, the technical scheme and the effects of the invention clearer and more definite, and the invention is further described in detail below by referring to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention will be further described by the description of embodiments with reference to the accompanying drawings.
Example 1
The embodiment provides an imaging method of a three-dimensional blood vessel ultrasonic image, as shown in fig. 1, the method includes:
s10, acquiring a target scanning position on a limb, and acquiring a plurality of motion tracks of the target scanning position, wherein the motion tracks carry ultrasonic observation points.
Specifically, the target scanning position is a preset part which needs to acquire a three-dimensional image of a blood vessel, and is positioned on a limb. In addition, in order to keep the target scanning position stationary, after the target scanning position is determined, a limb corresponding to the target scanning position is fixed by adopting a preset phantom, wherein the limb can be an upper limb or a lower limb. And after the limb is fixed by the body mould, the target scanning position is not covered by the body mould, so that the probe can contact the target scanning position to scan the target scanning position.
As shown in fig. 2, the acquiring the target scanning position on the limb and determining the plurality of motion trajectories corresponding to the target scanning position specifically includes:
s11, acquiring a target scanning position on a limb, acquiring an initial ultrasonic observation point of the target scanning position, and pulling a probe to the initial ultrasonic observation point;
s12, carrying out ultrasonic scanning on a target scanning part by the traction probe according to preset pressure so as to form a motion track;
s13, repeatedly acquiring an initial ultrasonic observation point and a traction step until a plurality of motion tracks are acquired, and recording the ultrasonic observation points of the motion tracks.
Specifically, the initial ultrasound observation point is located on the target scan site, and is a starting point for starting scanning. That is, the probe scans the target scan site starting from the initial ultrasound observation point. In this embodiment, the initial ultrasound observation point is the first point at which the probe contacts the target scan site, i.e., the probe is pulled into contact with the target scan site to obtain the initial ultrasound observation point. In addition, after an initial ultrasonic observation point is acquired and a probe is arranged at the initial ultrasonic observation point, a space position recording function is started, wherein the space position recording function can be configured by ultrasonic equipment or a mechanical arm; and recording the first position information of the initial ultrasonic observation point through the space position recording function, and recording the first position information of each ultrasonic observation point through the space position recording function.
Exemplary, the ultrasonic scanning of the target scanning part by the traction probe according to the preset pressure to form a motion track specifically includes:
the traction probe carries out ultrasonic scanning on the target scanning part according to preset pressure, and first position information of each ultrasonic observation point is obtained;
obtaining deformation values of target scanning positions corresponding to ultrasonic observation points;
and determining the pressure of the corresponding ultrasonic observation point according to each deformation value, and correlating the pressure with the first position information of the corresponding ultrasonic observation point to form a motion track.
Specifically, the preset pressure is a force of pressing the probe to the target scanning position, the force can be obtained according to an empirical value, and when the probe is adopted to press the target scanning position with the preset pressure, the deformation value of the blood vessel in the target scanning position is in an acceptable range. In practical application, different preset pressures can be set for patients with different age groups or body types, namely, the ultrasonic equipment determines the corresponding age group according to the age of the patient, and determines the corresponding preset pressure of the patient according to the corresponding relation between the age group and the preset pressure so as to improve the accuracy of the pre-strength.
Meanwhile, in the embodiment, the probe can manually pull and move by manpower, the probe scans the target scanning part in the moving process, the space position recording function records the first position information of each ultrasonic observation point, and a moving track is generated and stored according to the acquired position of the ultrasonic observation point so as to conveniently control the mechanical arm to move according to the moving track by driving the probe. In addition, the fat thickness of limbs on the motion trail is different, the preset pressure enables the skin deformation values of different positions of the target scanning position to be different, when the probe is pulled to move to different positions of the target scanning position to scan, the spatial positions and the pressure values of the mechanical arm and the probe can be recorded, and according to the deformation values which are found and set to different positions, the probe can be closely attached to the skin of the target scanning position but meet preset conditions on the skin and tissues. The preset condition is that the deformation value is smaller than a set value, and the set value can be obtained empirically.
Further, in order to determine the skin deformation value corresponding to each ultrasonic observation point, the probe may be disposed on a pressure sensor, the skin deformation value is obtained through the pressure sensor, and after the deformation value is obtained, the deformation value is associated with the first position information of the corresponding ultrasonic observation point. After the motion trail is obtained, obtaining deformation values corresponding to the position information, judging whether the deformation values meet preset conditions, and for the deformation values which do not meet the preset conditions, adjusting the pressure of the spatial position pair according to the deformation values, and associating the adjusted pressure with the corresponding position information, so that the motion trail comprises the first position information of the ultrasonic observation point and the pressure value, and when the probe is controlled to move according to the motion, the pressure of the probe can be adjusted according to the pressure value corresponding to the position information. In this embodiment, the failure to satisfy the preset condition means that the deformation value is greater than a set value of the preset condition or the deformation value is not detected. And when the deformation value is larger than the set value of the preset condition, regulating the pressure according to the regulation of the pressure, and when the deformation value is not detected, regulating the pressure.
In addition, after a motion track is obtained, the probe can be pulled again or repeatedly to scan the same blood vessel of the target scanning position at different positions so as to form a plurality of scanning paths of the same blood vessel of the target scanning position, and a plurality of motion tracks can be obtained. The process of generating the motion trail can be repeated by pulling the probe again or repeatedly to scan the same blood vessel of the target scanning position at different positions, and the description is omitted here. In addition, in a modified embodiment of the present embodiment, after a motion trajectory is acquired, ultrasonic data may be acquired by the mechanical arm according to the motion trajectory and an ultrasonic image may be formed, and then the steps of motion trajectory acquisition and scanning may be repeated. That is, after a plurality of motion trajectories are acquired, ultrasonic images corresponding to the motion trajectories are acquired respectively, and the acquisition is repeated for a plurality of times to acquire one motion trajectory and the ultrasonic images corresponding to the motion trajectory, so that a plurality of two-dimensional ultrasonic images required by the application can be acquired.
And S20, the mechanical arm drives the probe arranged on the mechanical arm to sequentially move according to each motion track so as to acquire first ultrasonic data corresponding to each ultrasonic observation point on each motion track.
Specifically, the mechanical arm acquires a motion path, the motion path is configured with a path identifier, the mechanical arm can determine a required motion path according to the path identifier, drive a probe connected with the mechanical arm to move according to the motion track, and control the probe to scan a target scanning position according to first position information and pressure of an ultrasonic observation point carried by the motion track. The number of the first ultrasonic data is equal to the number of the ultrasonic observation points, namely the motion trail is configured with a preset number of scans, and the preset data is preset.
S30, generating two-dimensional ultrasonic images corresponding to each motion trail according to the acquired first ultrasonic data, and performing image compositing on each two-dimensional ultrasonic image to obtain a three-dimensional ultrasonic image of the target scanning position.
Specifically, the ultrasonic image is generated according to the first ultrasonic data of the preset quantity, and the ultrasonic image can be a two-dimensional ultrasonic image, a three-dimensional gray-scale ultrasonic image or the like. In addition, when the motion trail is multiple, multiple ultrasonic images of the same blood vessel of the target scanning position can be obtained, and after the multiple ultrasonic images are obtained, the multiple ultrasonic images can be subjected to image compositing, so that the artifacts caused by the scanning angle are eliminated, and the accuracy of the ultrasonic images is improved.
Example two
The present embodiment provides a surgical guidance method based on three-dimensional ultrasound images, as shown in fig. 3, applied to an ultrasound apparatus configured with a mechanical arm and a probe, including:
m10, acquiring a three-dimensional ultrasonic image of a patient operation blood vessel before operation;
m20, when the medical instrument enters the operation blood vessel, driving the probe to move to obtain an ultrasonic observation point corresponding to the medical instrument through the mechanical arm, and obtaining a two-dimensional ultrasonic image of the ultrasonic observation point;
and M30, fusing the two-dimensional ultrasonic image and the three-dimensional ultrasonic image, and guiding an operation through the fused two-dimensional image.
Specifically, after a three-dimensional ultrasonic image is obtained, when an operation is started, the mechanical arm observes the entry of a guide wire by placing a probe at the initial position of a blood vessel (the starting position of the blood vessel where the guide wire enters), when the entry of the guide wire is observed, the probe is controlled to move forwards in the blood vessel along with the guide wire at the spatial position of a preset track, and the guide wire is observed to move until reaching the operation position by combining the ultrasonic image and the three-dimensional ultrasonic image or the three-dimensional fusion image of the blood vessel matched in real time. Then at the operation position, the mechanical arm controls the probe (can scan blood vessels at a plurality of different positions), and according to the ultrasonic data obtained by scanning and the obtained ultrasonic image, the actions of a guide wire, a bracket, a balloon and the like and the blood vessel condition are monitored, and simultaneously, the real-time blood flow information can be obtained by using color Doppler to guide the operation.
Further, in the step M10, the three-dimensional ultrasound image is obtained by the method described in the embodiment one, and the three-dimensional ultrasound image is obtained before the operation, that is, the limb position of the patient or the limb position corresponding to the blood vessel to be operated on the limb is fixed before the operation, and the limb position is scanned to obtain the ultrasound image of the blood vessel to be operated on. Further, after the three-dimensional ultrasound image is acquired, a three-dimensional fusion image may be formed in combination with the three-dimensional DSA (or three-dimensional MRA, etc.) image obtained by the preoperative examination. Wherein the operation is a stenting operation of limb artery/vein and abdominal aorta, a balloon expanding operation, a filter placing operation or a mechanical thrombus removing operation.
Correspondingly, the pre-operation acquisition of the three-dimensional ultrasonic image of the operation blood vessel of the patient specifically comprises the following steps:
acquiring a three-dimensional ultrasonic image and a three-dimensional image of a surgical blood vessel of a patient before surgery, wherein the three-dimensional image is one of a DSA image, an MRA image and a CTA image;
and carrying out image registration on the three-dimensional ultrasonic image and the three-dimensional image to obtain a three-dimensional fusion image of the operation blood vessel.
Specifically, the three-dimensional image is one of a DSA image, a MRA image and a CTA image, that is, a three-dimensional ultrasonic image and a three-dimensional image of a blood vessel to be operated are acquired before an operation, the three-dimensional ultrasonic image and the three-dimensional image are registered to obtain a registered three-dimensional fusion image, and the three-dimensional fusion image is used for determining the condition of the blood vessel before the operation, including blood flow velocity and the like.
Further, in the step M20, at the beginning of the operation, a motion track of the medical instrument is acquired, and the motion track of the medical instrument and the three-dimensional fusion image are fused to determine a spatial correspondence relationship between the motion track of the medical instrument and a blood vessel to be operated. When the medical instrument moves in the blood vessel, the position of the blood vessel corresponding to the medical instrument can be determined according to the movement track of the medical instrument, and the ultrasonic observation position can be determined according to the position of the blood vessel and the three-dimensional fusion image. Correspondingly, when the medical instrument enters the surgical blood vessel, the mechanical arm drives the probe to move to obtain an ultrasonic observation point corresponding to the medical instrument, and the obtaining of the two-dimensional image of the ultrasonic observation point specifically comprises:
when a medical instrument enters a surgical blood vessel, acquiring second position information of the medical instrument, and determining an ultrasonic observation point corresponding to the second position information;
the mechanical arm drives the probe to move to the ultrasonic observation point, and a two-dimensional ultrasonic image of the ultrasonic observation point is obtained.
Specifically, the second position information is a position of the medical instrument at the acquisition time determined according to the motion trail of the medical instrument, after the second position information is acquired, a blood vessel position corresponding to the medical instrument can be driven according to the second position information, then an ultrasonic observation point corresponding to the blood vessel position can be determined according to the three-dimensional fusion image, and a two-dimensional ultrasonic image of the ultrasonic observation point is acquired.
Further, in the step M30, after the two-dimensional ultrasound image is acquired, the two-dimensional ultrasound image and the three-dimensional fusion image are fused again, and the operation is navigated according to the two-dimensional fusion image after being fused again. Correspondingly, the fusing the two-dimensional ultrasonic image and the three-dimensional ultrasonic image, and guiding the operation through the fused two-dimensional image specifically comprises the following steps: fusing the two-dimensional ultrasonic image and the three-dimensional fused image, and acquiring blood vessel information of the medical instrument according to the fused two-dimensional image; guiding the operation according to the blood vessel information.
In order to further explain the three-dimensional ultrasound image-based surgical guidance method, the conventional method and the method of the present application will be described with reference to the lower limb arterial stent surgery.
For operations such as lower limb artery stent, balloon expansion, mechanical thrombus removal and the like, the existing ultrasound can locate and search the blood vessel blockage, but can not timely and accurately obtain two-dimensional and three-dimensional images of the whole blood vessel. Because the real-time operation conditions of surgical devices such as a guide wire, a bracket, a balloon, a mechanical thrombus remover and the like in the whole blood vessel are clearly observed, the operation is performed under a X-ray-based fluoroscopy machine (DSA), X-ray irradiation is continuously performed in the operation, patients and medical staff can be damaged by rays, and especially the medical staff who do operation for a long time are extremely harmful; patients need to inject a photographic agent to develop blood vessels under X-rays, and the photographic agent is also harmful to some patients and is intolerant to liver and kidney. The medical staff wears heavy protective lead clothing, and physical power consumption is big, and time consuming and labor consuming, long-term work probably leads to occupational diseases such as lumbar disc herniation, and the efficiency of operation reduces.
For operations such as a lower limb artery bracket, balloon expansion, mechanical thrombus taking and the like, the three-dimensional image of the whole blood vessel of the lower limb can be rapidly obtained through the ultrasonic probe fixed on the automatic mechanical arm, meanwhile, the movement of the mechanical arm moving probe along a blood vessel path in real time tracking guide wire can be controlled, the existing intraoperative X-ray perspective machine (DSA) can be completely replaced, the harm of X rays to personnel is avoided, on the other hand, medical staff does not need to wear heavy lead clothing, the working intensity can be reduced, and the operation efficiency is greatly improved. The patient does not need to make a photographic agent or eat wires, and the damage is reduced, so that the safety and the efficiency of the arterial stent operation are greatly improved.
Based on the imaging method of the three-dimensional vascular ultrasound image, the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to realize the steps in the imaging method of the three-dimensional vascular ultrasound image.
Based on the imaging method of the three-dimensional blood vessel ultrasonic image, the invention also provides ultrasonic equipment, which comprises the following steps: the probe is arranged on the mechanical arm, and a computer readable program which can be executed by the processor is stored on the memory; the processor, when executing the computer readable program, implements the steps in the imaging method of the three-dimensional vascular ultrasound image described in the above embodiment.
In addition, the specific processes that the storage medium and the plurality of instruction processors in the ultrasonic apparatus load and execute are described in detail in the above method, and are not stated here.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. An ultrasonic navigation device for vascular surgery, comprising: the device comprises a mechanical arm, a probe, a processor and a memory; the probe is arranged on the mechanical arm, and a computer readable program which can be executed by the processor is stored on the memory; the processor, when executing the computer readable program, performs the steps of:
acquiring a three-dimensional fusion image of a patient operation blood vessel before an operation starts;
driving a probe to move to an ultrasonic observation point corresponding to a medical instrument through a mechanical arm, and acquiring a two-dimensional ultrasonic image of the ultrasonic observation point;
fusing the two-dimensional ultrasonic image and the three-dimensional fused image, and guiding an operation through the two-dimensional image obtained by fusion;
the method for acquiring the three-dimensional fusion image of the operative blood vessel of the patient before the operation is started specifically comprises the following steps:
acquiring a three-dimensional ultrasonic image and a three-dimensional image of a surgical blood vessel of a patient before the operation, wherein the three-dimensional image is one of a DSA image, an MRA image and a CTA image;
performing image registration on the three-dimensional ultrasonic image and the three-dimensional image to obtain a three-dimensional fusion image of the surgical blood vessel;
the method for acquiring the three-dimensional ultrasonic image of the operative blood vessel of the patient before the operation is started further comprises the following steps:
when an operation starts, acquiring a motion trail of a medical instrument, and fusing the motion trail of the medical instrument with the three-dimensional fusion image to determine a spatial corresponding relation between the motion trail of the medical instrument and the position of a blood vessel to be operated; when the medical instrument moves in the blood vessel, the position of the blood vessel corresponding to the medical instrument can be determined according to the movement track of the medical instrument, and the ultrasonic observation point can be determined according to the position of the blood vessel and the three-dimensional fusion image.
2. The ultrasonic navigation apparatus for vascular surgery according to claim 1, wherein the fusing the two-dimensional ultrasonic image with the three-dimensional fused image, and guiding the surgery through the fused two-dimensional image specifically comprises:
fusing the two-dimensional ultrasonic image and the three-dimensional fused image, and acquiring blood vessel information of the front end of the medical instrument according to the fused two-dimensional image;
guiding the operation according to the blood vessel information.
3. The ultrasonic navigation device for vascular surgery according to claim 1, wherein the driving the probe to move to an ultrasonic observation point corresponding to the medical instrument by the mechanical arm, and acquiring the two-dimensional image of the ultrasonic observation point specifically comprises:
acquiring second position information of the medical instrument, and determining an ultrasonic observation point corresponding to the second position information;
the mechanical arm drives the probe to move to the ultrasonic observation point, and a two-dimensional ultrasonic image of the ultrasonic observation point is obtained.
4. The vascular surgical ultrasound navigation device according to claim 1, wherein the surgery is a stenting surgery of a limb artery/vein, abdominal aorta, balloon dilation, filter placement or mechanical embolization.
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| CN112472129A (en) * | 2020-12-15 | 2021-03-12 | 深圳市德力凯医疗设备股份有限公司 | Automatic pressure regulating method and device for ultrasonic probe based on image deformation |
| CN112472137B (en) * | 2020-12-15 | 2022-09-16 | 深圳市德力凯医疗设备股份有限公司 | Ultrasonic scanning method and system based on sliding operation track of touch screen |
| CN112472138B (en) * | 2020-12-18 | 2023-01-31 | 深圳市德力凯医疗设备股份有限公司 | Ultrasonic tracking method, system, storage medium and ultrasonic equipment |
| CN112862947A (en) * | 2020-12-22 | 2021-05-28 | 深圳市德力凯医疗设备股份有限公司 | Image scanning method and system based on three-dimensional ultrasonic probe |
| CN112914609A (en) * | 2021-01-06 | 2021-06-08 | 苏州中荟医疗科技有限公司 | Blood vessel diagnosis and recanalization system and method for stenotic calcified lesions of blood vessels |
| CN112890867A (en) * | 2021-01-06 | 2021-06-04 | 杰杰医疗科技(苏州)有限公司 | Full-automatic peripheral blood vessel three-dimensional ultrasonic image reconstruction system and method |
| CN112914601B (en) * | 2021-01-19 | 2024-04-02 | 深圳市德力凯医疗设备股份有限公司 | Obstacle avoidance method and device for mechanical arm, storage medium and ultrasonic equipment |
| CN113081032B (en) * | 2021-03-23 | 2023-03-14 | 北京维声科技有限公司 | Human organ scanning image generation system and ultrasonic diagnosis system |
| CN114984412B (en) * | 2022-03-25 | 2023-07-21 | 清华大学 | Closed-loop type blood flow control system and control method thereof |
| CN114795468B (en) * | 2022-04-19 | 2022-11-15 | 首都医科大学附属北京天坛医院 | Intraoperative navigation method and system for intravascular treatment |
| CN115035001B (en) * | 2022-08-11 | 2022-12-09 | 北京唯迈医疗设备有限公司 | Intraoperative navigation system, computing device and program product based on DSA imaging device |
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